mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 04:30:34 +08:00
tumbili
240 lines
5.8 KiB
C
240 lines
5.8 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
|
* Author: @author Anton Babushkin <anton.babushkin@me.com>
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file mc_pos_control_params.c
|
|
* Multicopter position controller parameters.
|
|
*
|
|
* @author Anton Babushkin <anton.babushkin@me.com>
|
|
*/
|
|
|
|
#include <systemlib/param/param.h>
|
|
|
|
/**
|
|
* Minimum thrust
|
|
*
|
|
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
|
|
*
|
|
* @min 0.0
|
|
* @max 1.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f);
|
|
|
|
/**
|
|
* Maximum thrust
|
|
*
|
|
* Limit max allowed thrust.
|
|
*
|
|
* @min 0.0
|
|
* @max 1.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
|
|
|
|
/**
|
|
* Proportional gain for vertical position error
|
|
*
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
|
|
|
|
/**
|
|
* Proportional gain for vertical velocity error
|
|
*
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
|
|
|
|
/**
|
|
* Integral gain for vertical velocity error
|
|
*
|
|
* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
|
|
*
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
|
|
|
|
/**
|
|
* Differential gain for vertical velocity error
|
|
*
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
|
|
|
|
/**
|
|
* Maximum vertical velocity
|
|
*
|
|
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
|
|
*
|
|
* @unit m/s
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
|
|
|
|
/**
|
|
* Vertical velocity feed forward
|
|
*
|
|
* Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
|
|
*
|
|
* @min 0.0
|
|
* @max 1.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
|
|
|
|
/**
|
|
* Proportional gain for horizontal position error
|
|
*
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f);
|
|
|
|
/**
|
|
* Proportional gain for horizontal velocity error
|
|
*
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
|
|
|
|
/**
|
|
* Integral gain for horizontal velocity error
|
|
*
|
|
* Non-zero value allows to resist wind.
|
|
*
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
|
|
|
|
/**
|
|
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
|
*
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
|
|
|
|
/**
|
|
* Maximum horizontal velocity
|
|
*
|
|
* Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
|
|
*
|
|
* @unit m/s
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
|
|
|
|
/**
|
|
* Horizontal velocity feed forward
|
|
*
|
|
* Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
|
|
*
|
|
* @min 0.0
|
|
* @max 1.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
|
|
|
|
/**
|
|
* Maximum tilt angle in air
|
|
*
|
|
* Limits maximum tilt in AUTO and POSCTRL modes during flight.
|
|
*
|
|
* @unit deg
|
|
* @min 0.0
|
|
* @max 90.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
|
|
|
|
/**
|
|
* Maximum tilt during landing
|
|
*
|
|
* Limits maximum tilt angle on landing.
|
|
*
|
|
* @unit deg
|
|
* @min 0.0
|
|
* @max 90.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f);
|
|
|
|
/**
|
|
* Landing descend rate
|
|
*
|
|
* @unit m/s
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
|
|
|
|
/**
|
|
* Max manual roll
|
|
*
|
|
* @unit deg
|
|
* @min 0.0
|
|
* @max 90.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f);
|
|
|
|
/**
|
|
* Max manual pitch
|
|
*
|
|
* @unit deg
|
|
* @min 0.0
|
|
* @max 90.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
|
|
|
|
/**
|
|
* Max manual yaw rate
|
|
*
|
|
* @unit deg/s
|
|
* @min 0.0
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 120.0f);
|
|
|